BodyMechParams
ControlParams
prostheticParams

%{
LGainGAS          = Gains( 1);
LGainGLU          = Gains( 2);
LGainHAM          = Gains( 3);
LGainKneeOverExt  = Gains( 4);
LGainSOL          = Gains( 5);
LGainSOLTA        = Gains( 6);
LGainTA           = Gains( 7);
LGainVAS          = Gains( 8);
LKglu             = Gains( 9);
LPosGainGG        = Gains(10);
LSpeedGainGG      = Gains(11);
LhipDGain         = Gains(12);
LhipPGain         = Gains(13);
LkneeExtendGain   = Gains(14);
LkneeFlexGain     = Gains(15);
LkneeHoldGain1    = Gains(16);
LkneeHoldGain2    = Gains(17);
LkneeStopGain     = Gains(18);
LlegAngleFilter   = Gains(19);
RGainGLU          = Gains(20);
RGainHAM          = Gains(21);
RKglu             = Gains(22);
RPosGainGG        = Gains(23);
RSpeedGainGG      = Gains(24);
RhipDGain         = Gains(25);
RhipPGain         = Gains(26);
RlegAngleFilter   = Gains(27);
bKneeSwing1       = Gains(28);
bKneeSwing2       = Gains(29);
k1AnkleStance1    = Gains(30);
k1AnkleStance2    = Gains(31);
k1AnkleSwing1     = Gains(32);
k1AnkleSwing2     = Gains(33);
k1KneeStance1     = Gains(34);
k1KneeStance2     = Gains(35);
k1KneeSwing1      = Gains(36);
k1KneeSwing2      = Gains(37);
k2AnkleStance1    = Gains(38);
k2KneeStance2     = Gains(39);
ankleAngleThr     = Gains(40);
phiAnkleStance1   = Gains(41);
phiAnkleStance12  = Gains(42);
phiAnkleStance2   = Gains(43);
phiKneeStance1    = Gains(44);
phiKneeStance2    = Gains(45);
phiKneeSwing1     = Gains(46);
phiKneeSwing2     = Gains(47);
legLengthClr      = Gains(48);
simbiconGainD     = Gains(49);
simbiconGainV     = Gains(50);
simbiconLegAngle0 = Gains(51);
%}

InitialGuess( 1) = LGainGAS;
InitialGuess( 2) = LGainGLU;
InitialGuess( 3) = LGainHAM;
InitialGuess( 4) = LGainKneeOverExt;
InitialGuess( 5) = LGainSOL;
InitialGuess( 6) = LGainSOLTA;
InitialGuess( 7) = LGainTA;
InitialGuess( 8) = LGainVAS;
InitialGuess( 9) = LKglu;
InitialGuess(10) = LPosGainGG;
InitialGuess(11) = LSpeedGainGG;
InitialGuess(12) = LhipDGain;
InitialGuess(13) = LhipPGain;
InitialGuess(14) = LkneeExtendGain;
InitialGuess(15) = LkneeFlexGain;
InitialGuess(16) = LkneeHoldGain1;
InitialGuess(17) = LkneeHoldGain2;
InitialGuess(18) = LkneeStopGain;
InitialGuess(19) = LlegAngleFilter;
InitialGuess(20) = RGainGLU;
InitialGuess(21) = RGainHAM;
InitialGuess(22) = RKglu;
InitialGuess(23) = RPosGainGG;
InitialGuess(24) = LSpeedGainGG;
InitialGuess(25) = RhipDGain;
InitialGuess(26) = RhipPGain;
InitialGuess(27) = RlegAngleFilter;
InitialGuess(28) = anklePgain;
InitialGuess(29) = ankleDgain;
InitialGuess(30) = ankleFilterPID;
InitialGuess(31) = ankleFilterSEA;
InitialGuess(32) = kneePgain;
InitialGuess(33) = kneeDgain;
InitialGuess(34) = kneeFilterPID;
InitialGuess(35) = kneeFilterSEA;
InitialGuess(36) = bKneeSwing1;
InitialGuess(37) = bKneeSwing2;
InitialGuess(38) = k1AnkleStance1;
InitialGuess(39) = k1AnkleStance2;
InitialGuess(40) = k1AnkleSwing1;
InitialGuess(41) = k1AnkleSwing2;
InitialGuess(42) = k1KneeStance1;
InitialGuess(43) = k1KneeStance2;
InitialGuess(44) = k1KneeSwing1;
InitialGuess(45) = k1KneeSwing2;
InitialGuess(46) = k2AnkleStance1;
InitialGuess(47) = k2KneeStance2;
InitialGuess(48) = ankleAngleThr;
InitialGuess(49) = phiAnkleStance1;
InitialGuess(50) = phiAnkleStance12;
InitialGuess(51) = phiAnkleStance2;
InitialGuess(52) = phiKneeStance1;
InitialGuess(53) = phiKneeStance2;
InitialGuess(54) = phiKneeSwing1;
InitialGuess(55) = phiKneeSwing2;
InitialGuess(56) = legLengthClr;
InitialGuess(57) = simbiconGainD;
InitialGuess(58) = simbiconGainV;
InitialGuess(59) = simbiconLegAngle0; 

InitialGuess = InitialGuess';
save('InitialGuess.mat','InitialGuess')
